Srk: minor: missing to

2017-09-30T00:18:44Z

minor: missing to

Srk: init GettingStarted

2017-09-30T00:15:24Z

init GettingStarted

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== Required equip ==
* Linux computer
* F4 Discovery board
* [[CAN4DISCO]] board
* STLink programmer(s)
* Slave nodes

== Software stack ==

You can build the complete stack according to instruction on [https://github.com/distrap/distrap-build distrap-build] repository.

=== UDev rules ===

For persistent device names you should create udev rules files in ''/etc/udev/rules.d/''. For example
to create rules for your F4 Discovery board flashed with Black Magic probe firmware you can use the following
template:
{{cmd|code=
# F4 Discovery
SUBSYSTEMS=="usb", ATTRS{manufacturer}=="Black Sphere Technologies", ATTRS{serial}!="E3C09CF4", GOTO="f4_bmp_end"
ACTION=="add", SUBSYSTEM=="tty", ATTRS{interface}=="Black Magic GDB Server", MODE="0660", GROUP="dialout", SYMLINK+="f4gdb"
ACTION=="add", SUBSYSTEM=="tty", ATTRS{interface}=="Black Magic UART Port", MODE="0660", GROUP="dialout", SYMLINK+="f4uart"
LABEL="f4_bmp_end"
}}

Make sure to set correct ''serial'' number, this can be found by running ''dmesg'' after the board is plugged in.
Create similar file as ''/etc/udev/rules.d/48-distrap.rules'' and run
{{cmd|code=
udevadm control -R
}}
to reload UDev daemon. Next time you plug in your device two nodes should be created
* /dev/f4gdb - for attaching GDB
* /dev/f4uart - UART2 pass-through

== Hardware ==

=== Flashing ===
=== Debugging ===
==== Black Magic Probe ====

== CAN ==

Either you Linux computer or single board computer like Raspberry Pi or BeagleBone Black
can be used as CAN master. For development purposes powerful computer is better
due to shorter compilation time, for production BeagleBone Black or ODROID XU4 is a good choice.

=== Bringing up SLCAN bridge ===

Assuming you are using [[CAN4DISCO]] as UART2CAN bridge you can bring up CAN network
with following commands:
{{cmd|code=
modprobe can
modprobe can-raw
modprobe slcan
slcand -F -s8 -S115200 /dev/f4uart can0 # CAN speed 8 -> 1Mbit
ip link set can0 up
}}

Script to initialize SLCAN can be found in [https://github.com/distrap/dumpster/blob/master/canscripts/setup distrap/dumpster].

=== Brining up native interface ===

=== Using virtual CAN interface ===

Virtual CAN interface can be started with following commands:
{{cmd|code=
modprobe can
modprobe can-raw
modprobe vcan

ip link add type vcan
ip link add dev vcan0 type vcan
ip link set vcan0 up
}}

Script to initialize vcan0 can be found in [https://github.com/distrap/dumpster/blob/master/canscripts/setup_vcan distrap/dumpster].

=== Monitoring CAN traffic ===

candump utility can be used to dump traffic on the CAN interface:
{{cmd|code=
candump can0
# or
# candump vcan0
}}

=== Sending CAN messages manually ===

Use cansend utility, for example to send LSS identify uncofigured devices command:
{{cmd|code=
cansend can0 7E5#4C
}}

If you have such unconfigured node connected you should see its reply in candump:
{{cmd|code=
# candump can0
can0 7E5 [1] 4C
can0 7E4 [8] 50 00 00 00 00 00 00 00
}}

=== Running CANOpen node on POSIX ===

Build canopen-posix-test
{{cmd|code=
cd distrap-build/canopen/
make canopen-posix-test
}}

As root create virtual terminal pair (linking /dev/ttyS0 with /dev/ttyS1) and start SLCAN on one side and
POSIX node on the other side (POSIX node utilizes SLCAN on its side as well
to convert SLCAN traffic to CAN traffic internally). To do so start the
following commands as root:
{{cmd|code=
socat -d -d pty,link=/dev/ttyS0,raw,echo=0 pty,link=/dev/ttyS1,raw,echo=0
# start slcand on one side
slcand -F -s8 -S115200 /dev/ttyS0 can0

ip link set can0 up

# start canopen-posix-test on the other side
# for that go the canopen folder you've used in previous step to build
# a binary as this needs to be started by root (or use su -c ".." as a normal user)
./build/canopen-posix-test/tower_init <> /dev/ttyS1 > /dev/ttyS1
}}

Now the node is running and should respond to messages. It first needs to be configured
(node ID is set during LSS phase) and then it can be used for testing fully featured
CANOpen communication. Try talking to it as described in section [[#Sending CAN messages manually]].

@@ Line 120: / Line 120: @@
 # start canopen-posix-test on the other side
-# for that go the canopen folder you've used in previous step to build
+# for that go to the canopen folder you've used in previous step to build
 # a binary as this needs to be started by root (or use su -c ".." as a normal user)
 ./build/canopen-posix-test/tower_init <> /dev/ttyS1 > /dev/ttyS1

GettingStarted - Revision history

Srk: minor: missing to

Srk: init GettingStarted